\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.66 \% & 83.05 \% & 73.35 \%\\
Car (Orientation) & 93.46 \% & 82.51 \% & 72.67 \%\\
Car (3D Detection) & 22.46 \% & 14.65 \% & 12.97 \%\\
Car (Bird's Eye View) & 31.49 \% & 21.37 \% & 18.43 \%\\
Pedestrian (Detection) & 45.03 \% & 32.48 \% & 28.58 \%\\
Pedestrian (Orientation) & 33.73 \% & 23.54 \% & 20.50 \%\\
Pedestrian (3D Detection) & 13.99 \% & 8.81 \% & 7.26 \%\\
Pedestrian (Bird's Eye View) & 15.39 \% & 9.39 \% & 8.61 \%\\
Cyclist (Detection) & 42.21 \% & 27.89 \% & 24.73 \%\\
Cyclist (Orientation) & 25.51 \% & 16.50 \% & 15.09 \%\\
Cyclist (3D Detection) & 5.49 \% & 2.92 \% & 2.64 \%\\
Cyclist (Bird's Eye View) & 7.05 \% & 3.63 \% & 3.33 \%
\end{tabular}